A PWM modulation device includes: a PWM modulator which receives upper N bits of an (N+1)-bit output from a noise shaper; a rising/falling edge detector which receives a PWM output signal of the PWM modulator and detects a rising/falling edge; a delay circuit which receives the PWM output signal, delays the PWM output signal by a predetermined delay time and outputs a PWM output delay signal; an AND gate which receives the lower one bit output from the noise shaper and an output control signal of the rising/falling edge detector; and a selector which receives a signal obtained as a result of an AND operation by the AND gate for the output control signal and the lower one bit and selects one of the PWM output signal and the PWM output delay signal.